Tradheli: fix yaw attitude error corrections while rotors turning on the ground

[bnsgeyer]

This PR addresses an issue with the handling of yaw attitude error corrections being fed to the rate controller when the aircraft is on the ground with rotors turning. Currently the yaw attitude error correction is being fed to the rate controller with both integrator management schemes. This PR keeps the heading error correction when using the leaky integrator but removes it when using the integrator management that triggers on the landing detector.

This also cleans up some inconsistencies in the logic with landed and pretakeoff althold states in each of the non-manual throttle flight modes.

It also addresses the definition of behaviors for Spool up/down which was not addressed at all in the manual throttle modes. The only one that affects copter is Drift

Needs testing.

[MattKear]

@bnsgeyer why not apply this to the leaky I case as well? I appreciate it is arguably not needed, but there is also no harm in applying it, as far as I can tell. By not applying it would reduce the amount of checks in the if statements and make the code easier to read.